I recently suffered the dreaded ABS VDC off and SLIP lights all coming on at once I found out I had a LF wheel speed sensor code and also had a code for the steering angle sensor in safe mode. I changed out the sensor but still had the angle sensor code I was able to reset it by clearing the ABS codes while driving with my new code scanner. I got a sweet deal on the scanner with trading in my old one. If you have an Innova 3120 or 3140 model scanner you can trade it in and get the 3150e that does ABS and SRS as well as the OBD2 for 89.99 plus tax and shipping